CN112448656A - Motor controller working mode switching method and device and electric automobile - Google Patents

Motor controller working mode switching method and device and electric automobile Download PDF

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Publication number
CN112448656A
CN112448656A CN201910827277.4A CN201910827277A CN112448656A CN 112448656 A CN112448656 A CN 112448656A CN 201910827277 A CN201910827277 A CN 201910827277A CN 112448656 A CN112448656 A CN 112448656A
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current
motor controller
rotating speed
motor
determining
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CN112448656B (en
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李玮
刘超
梁海强
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/60—Controlling or determining the temperature of the motor or of the drive
    • H02P29/68—Controlling or determining the temperature of the motor or of the drive based on the temperature of a drive component or a semiconductor component
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

Abstract

The invention provides a method and a device for switching working modes of a motor controller and an electric automobile, and relates to the technical field of automobile safety, wherein the method comprises the following steps: acquiring a current efficiency coefficient of a motor controller cooling system; determining whether the motor controller cooling system is abnormal according to the current efficiency coefficient; after determining that the motor controller cooling system is abnormal, determining a working mode switching control parameter of the motor controller in a safe state according to the current rotating speed and the current efficiency coefficient of the motor; and after the requirement for entering a safe state is acquired, controlling the motor controller to switch between a control output mode and a zero-torque mode for closing the insulated gate bipolar transistor module according to the working mode switching control parameter. The scheme of the invention avoids the problem that the junction temperature of the IGBT module exceeds the limit value and even causes the burning of the IGBT module due to the active short circuit after the vehicle has a serious traffic safety fault.

Description

Motor controller working mode switching method and device and electric automobile
Technical Field
The invention relates to the technical field of automobile safety, in particular to a method and a device for switching working modes of a motor controller and an electric automobile.
Background
The pure electric vehicle, as the name implies, during the driving process, the energy of the pure electric vehicle comes from the vehicle-mounted power battery and the driving force is provided by the driving motor to finally realize the driving of the vehicle. With the continuous increase of the acceptance of users to the pure electric vehicles, the performance requirements of the general public on the pure electric vehicles are increasingly improved, for example, the vehicles are required to have more excellent acceleration performance, higher maximum speed, longer driving range and the like, under the guidance of the market, the output power of the pure electric vehicle driving system is gradually increased, and the output power of the mainstream pure electric vehicle driving system at home and abroad is over 100Kw at present, so that very high requirements are provided for the cooling system. At present, a mainstream pure electric automobile provides heat dissipation requirements for a motor controller and a driving motor in a liquid cooling mode, main heat of the motor controller is sourced from an Insulated Gate Bipolar Transistor (IGBT) module in the working process, the junction temperature of the Si-based IGBT module in the highest reliable working state is not more than 150 ℃, and the Si-based IGBT module is not damaged irreversibly or even burnt out.
In the prior art, for a pure electric vehicle equipped with a permanent magnet synchronous motor, based on functional safety design requirements, after a fault that seriously affects driving safety occurs, the vehicle generally enters a safe state through an Active Short Circuit (ASC) mode, which is a mainstream safety state solution in the field of pure electric vehicles. Actually, the active short circuit of the driving system is realized by controlling the three-phase upper bridge arm or the three-phase lower bridge arm of the IGBT module U, V, W to be conducted simultaneously, so that the phase current in the motor can flow freely in the three-phase winding and the IGBT conducting bridge arm, and the system is not affected by the back electromotive force, for example: and the damage of the back electromotive force or the impact current to a motor controller, a power battery and a component connected with a direct-current high-voltage bus. Although the active short circuit has the advantages, the active short circuit has a series of disadvantages, wherein the most important one is that a larger current is generated in a conducting bridge arm of an IGBT module in the active short circuit control process. Therefore, when the cooling efficiency of the motor controller cooling system is reduced or the motor controller cooling system is in failure, the active short-circuit control is not suitable for the failure treatment of the vehicle when the temperature of the IGBT is high under certain specific working conditions, because in the state that the temperature of the IGBT is high and the cooling system is abnormal, the active short-circuit control is likely to cause the junction temperature of the IGBT to exceed the limit value due to continuous high current and even cause the burning of the IGBT.
Disclosure of Invention
The invention aims to provide a method and a device for switching the working mode of a motor controller and an electric automobile, so as to solve the problem that in the prior art, when a fault of serious driving safety occurs, junction temperature of an IGBT module exceeds a limit value and even the IGBT module is burnt out due to active short circuit.
In order to achieve the above object, the present invention provides a method for switching operating modes of a motor controller, comprising:
acquiring a current efficiency coefficient of a motor controller cooling system;
determining whether the motor controller cooling system is abnormal according to the current efficiency coefficient;
after determining that the motor controller cooling system is abnormal, determining a working mode switching control parameter of the motor controller in a safe state according to the current rotating speed and the current efficiency coefficient of the motor;
and after the requirement for entering a safe state is acquired, controlling the motor controller to switch between a control output mode and a zero-torque mode for closing the insulated gate bipolar transistor module according to the working mode switching control parameter.
Wherein the step of obtaining a current coefficient of performance of the motor controller cooling system comprises:
acquiring the current temperature and the current temperature limit value of an insulated gate bipolar transistor module in the motor controller at intervals of a first preset time length;
and acquiring the current efficiency coefficient of the motor controller cooling system according to the acquired multiple groups of the current temperatures and the current temperature limit values.
The step of obtaining the current temperature limit value of the insulated gate bipolar transistor module in the motor controller comprises the following steps:
acquiring the current running condition and the current environment temperature of the electric automobile;
and determining the current temperature limit value of the insulated gate bipolar transistor module according to the current driving working condition and the current environment temperature and a prestored environment temperature-driving working condition-insulated gate bipolar transistor module temperature limit value comparison table.
Wherein the step of obtaining a current efficiency coefficient of the motor controller cooling system based on the obtained plurality of sets of the current temperatures and the current temperature limits comprises:
obtaining the difference value between the current temperature and the current temperature limit value of each group;
correcting each difference value according to a preset temperature range;
and acquiring the current efficiency coefficient according to the plurality of groups of corrected difference values.
Wherein, according to the preset temperature range, the step of correcting each difference value comprises the following steps:
determining whether the difference is within the preset temperature range;
when the difference is determined not to be within the preset temperature range, if the difference is larger than the upper temperature limit value of the preset temperature range, correcting the difference to be the upper temperature limit value; and if the difference is smaller than the lower temperature limit value of the preset temperature range, correcting the difference to be the lower temperature limit value.
Wherein the step of obtaining the current performance coefficient according to the plurality of groups of corrected difference values comprises:
calculating the ratio of each corrected difference value to the temperature upper limit value;
and obtaining the current efficiency coefficient by calculating the average value of a plurality of ratios.
Wherein determining whether the motor controller cooling system is abnormal based on the current efficiency factor comprises:
and if the current efficiency coefficients are all larger than a preset value within a second preset time, determining that the motor controller cooling system is abnormal.
The step of determining the working mode switching control parameter of the motor controller in the safe state according to the current rotating speed of the motor and the current efficiency coefficient comprises the following steps:
collecting the current rotating speed;
correcting each current rotating speed according to a preset rotating speed range;
calculating a rotation speed coefficient of the motor according to the corrected current rotation speed and the rotation speed upper limit value and the rotation speed lower limit value of the preset range;
and determining the working mode switching control parameter according to the rotating speed coefficient and the current efficiency coefficient.
Wherein, according to the preset rotating speed range, the step of correcting each current rotating speed comprises the following steps:
determining whether the absolute value of the current rotating speed is within the preset rotating speed range;
when the absolute value of the current rotating speed is determined not to be within the preset temperature range, if the absolute value of the current rotating speed is larger than the rotating speed upper limit value, the current rotating speed is corrected to be the rotating speed upper limit value; and if the absolute value of the current rotating speed is smaller than the rotating speed lower limit value, correcting the current rotating speed to be the rotating speed lower limit value.
The step of controlling the motor controller to switch between a control output mode and a zero-torque mode for closing the insulated gate bipolar transistor module according to the working mode switching control parameter comprises the following steps:
determining the times of operating and closing the control output mode of the insulated gate bipolar transistor module and the times of operating the zero-torque mode in one safe state control period according to the switching control parameters and the number of the control output periods of the insulated gate bipolar transistor module contained in the one safe state control period which is stored in advance;
and periodically switching the working modes according to the number of control output periods of the insulated gate bipolar transistor module contained in one safe state control period and the number of times of operating and closing the control output modes of the insulated gate bipolar transistor module.
Wherein, after the step of determining whether the motor controller cooling system is abnormal based on the current efficiency factor, the method further comprises:
after determining that the motor controller cooling system is abnormal, determining the current limit power of the motor according to the current efficiency coefficient and the current rotating speed of the motor;
and controlling the output power of the motor to be less than or equal to the current limit power.
Wherein, according to the current efficiency coefficient and the current rotating speed of the motor, the step of determining the current limit power of the motor comprises the following steps:
acquiring the current maximum output power of the motor according to the current rotating speed and a prestored motor external characteristic curve;
and determining the current limit power of the motor according to the current maximum output power and the current efficiency coefficient.
An embodiment of the present invention further provides a device for switching operating modes of a motor controller, including:
the acquisition module is used for acquiring the current efficiency coefficient of the motor controller cooling system;
a first determination module for determining whether the motor controller cooling system is abnormal based on the current efficiency coefficient;
the second determination module is used for determining working mode switching control parameters of the motor controller in a safe state according to the current rotating speed and the current efficiency coefficient of the motor after determining that the cooling system of the motor controller is abnormal;
and the first control module is used for controlling the motor controller to switch between a control output mode and a zero-torque mode for closing the insulated gate bipolar transistor module according to the working mode switching control parameter after the requirement for entering the safe state is acquired.
Wherein the acquisition module comprises:
the first obtaining submodule is used for obtaining the current temperature and the current temperature limit value of an insulated gate bipolar transistor module in the motor controller at intervals of a first preset time length;
and the second obtaining submodule is used for obtaining the current efficiency coefficient of the motor controller cooling system according to the obtained multiple groups of current temperatures and the current temperature limit values.
Wherein the first obtaining sub-module includes:
the first acquisition unit is used for acquiring the current running condition and the current environment temperature of the electric automobile;
and the first determining unit is used for determining the current temperature limit value of the insulated gate bipolar transistor module according to the current driving working condition and the current environment temperature as well as a prestored environment temperature-driving working condition-insulated gate bipolar transistor module temperature limit value comparison table.
Wherein the second obtaining sub-module includes:
the second acquisition unit is used for acquiring the difference value between the current temperature and the current temperature limit value of each group;
the first correction unit is used for correcting each difference value according to a preset temperature range;
and the third obtaining unit is used for obtaining the current efficiency coefficient according to the plurality of groups of corrected difference values.
Wherein the first correcting unit includes:
a first determining subunit, configured to determine whether the difference value is within the preset temperature range;
the first correction subunit is used for correcting the difference value to be the upper temperature limit value if the difference value is larger than the upper temperature limit value of the preset temperature range when the difference value is determined not to be in the preset temperature range; and if the difference is smaller than the lower temperature limit value of the preset temperature range, correcting the difference to be the lower temperature limit value.
Wherein the third acquiring unit includes:
the first calculating subunit is used for calculating the ratio of each corrected difference value to the temperature upper limit value;
and the first obtaining subunit is configured to obtain the current performance coefficient by calculating an average value of a plurality of the ratios.
Wherein the first determining module comprises:
and the first determining submodule is used for determining that the motor controller cooling system is abnormal if the current efficiency coefficients are all larger than the preset value in a second preset time period.
Wherein the second determining module comprises:
the acquisition submodule is used for acquiring the current rotating speed;
the correction submodule is used for correcting each current rotating speed according to a preset rotating speed range;
the calculation submodule is used for calculating the rotation speed coefficient of the motor according to the corrected current rotation speed and the rotation speed upper limit value and the rotation speed lower limit value of the preset range;
and the first determining submodule is used for determining the working mode switching control parameter according to the rotating speed coefficient and the current efficiency coefficient.
Wherein the modification submodule comprises:
a second determination unit configured to determine whether an absolute value of the current rotation speed is within the preset rotation speed range;
the second correcting unit is used for correcting the current rotating speed to be the rotating speed upper limit value if the absolute value of the current rotating speed is larger than the rotating speed upper limit value when the absolute value of the current rotating speed is determined not to be in the preset temperature range; and if the absolute value of the current rotating speed is smaller than the rotating speed lower limit value, correcting the current rotating speed to be the rotating speed lower limit value.
Wherein the first control module comprises:
the second determining submodule is used for determining the times of operating and closing the control output mode of the insulated gate bipolar transistor module and the times of operating the zero-torque mode in one safe state control period according to the switching control parameter and the number of the control output periods of the insulated gate bipolar transistor module contained in the one safe state control period which is stored in advance;
and the switching submodule is used for periodically switching the working mode according to the number of control output cycles of the insulated gate bipolar transistor module contained in one safe state control cycle and the number of times of operating and closing the control output mode of the insulated gate bipolar transistor module.
Wherein the apparatus further comprises:
the third determining module is used for determining the current limiting power of the motor according to the current efficiency coefficient and the current rotating speed of the motor after determining that the motor controller cooling system is abnormal;
and the second control module is used for controlling the output power of the motor to be less than or equal to the current limit power.
Wherein the third determining module comprises:
the third obtaining submodule is used for obtaining the current maximum output power of the motor according to the current rotating speed and a prestored motor external characteristic curve;
and the third determining submodule is used for determining the current limit power of the motor according to the current maximum output power and the current efficiency coefficient.
The embodiment of the invention also provides an electric automobile, which comprises the motor controller working mode switching method.
An embodiment of the present invention further provides an electric vehicle, including: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method for switching the operating mode of a motor controller as described above.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for switching the operating mode of the motor controller described above are implemented.
The technical scheme of the invention at least has the following beneficial effects:
according to the method for switching the working modes of the motor controller, whether the cooling system of the motor controller is abnormal or not is determined according to the current efficiency coefficient of the cooling system of the motor controller, and after the cooling system of the motor controller is determined to be abnormal, the working mode switching control parameters of the motor controller in the safety state are determined according to the current rotating speed of the motor and the current efficiency coefficient, so that after the requirement for entering the safety state is obtained, the motor controller is controlled to switch between the control output mode for closing the insulated gate bipolar transistor module and the zero torque mode according to the working mode switching control parameters, and the situation that the IGBT module has continuous large current under the conditions that the temperature of the IGBT module is high and the cooling system is abnormal is avoided, the junction temperature of the IGBT module exceeds the limit value, and the IGBT module is burnt out.
Drawings
FIG. 1 is a schematic diagram illustrating the basic steps of a method for switching the operation mode of an electric controller according to an embodiment of the present invention;
fig. 2 is a schematic diagram showing the basic components of the device for switching the operation mode of the electric controller according to the embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides a method and a device for switching working modes of a motor controller in a safe state and an electric vehicle, aiming at the problem that the junction temperature of an IGBT module exceeds a limit value and the IGBT module is burnt out because a vehicle enters the safe state through active short circuit in the prior art, so that the generation of large current in the IGBT module is avoided and the driving safety is improved.
As shown in fig. 1, an embodiment of the present invention provides a method for switching operating modes of a motor controller, including:
step S101, acquiring a current efficiency coefficient of a motor controller cooling system;
as a qualified electric automobile, under different environmental temperature conditions, the motor controller cooling system can meet the cooling requirement of the driving system, so that the temperature of the IGBT module of the motor controller cannot exceed the preset limit value. Thus, the current efficiency factor is determined based on the current temperature of the IGBT module of the motor controller. The specific calculation process will be described in detail below.
And step S102, determining whether the motor controller cooling system is abnormal or not according to the current efficiency coefficient.
When the motor controller cooling system is in a normal function, the temperature of the IGBT module of the motor controller does not exceed a preset limit value, so that the current efficiency coefficient is always smaller than a preset value, and when the efficiency coefficient is larger than the preset value in a preset time period, the motor controller cooling system is determined to be abnormal.
And step S103, after the motor controller cooling system is determined to be abnormal, determining working mode switching control parameters of the motor controller in a safe state according to the current rotating speed and the current efficiency coefficient of the motor.
In this step, the working mode switching control parameter is specifically a ratio of a control output mode of closing the insulated gate bipolar transistor module to a control output mode of closing the insulated gate bipolar transistor module and a zero-torque mode. Because the control output mode of the closed insulated gate bipolar transistor module can generate larger back electromotive force on the direct current bus side of the power battery of the electric automobile, and the back electromotive force is related to the rotating speed of the motor, the proportion of the control output mode of the closed insulated gate bipolar transistor module is reduced under the working condition of high rotating speed of the motor, so that the back electromotive force generated in the control process is reduced.
And step S104, after the requirement for entering the safe state is acquired, controlling the motor controller to switch between a control output mode and a zero-torque mode for closing the insulated gate bipolar transistor module according to the working mode switching control parameter.
In this step, as to whether the security state is entered, that is: whether the requirement for entering the safe state is acquired or not depends on the faults detected by the motor controller mostly, namely, the safe state requirement is triggered in the modes of faults and the like.
The method for switching the working modes of the motor controller determines whether the cooling system of the motor controller is abnormal or not through the acquired current efficiency coefficient of the cooling system of the motor controller, and determines working mode switching control parameters of the motor controller in a safe state according to the current rotating speed and the current efficiency coefficient of a motor after determining that the cooling system of the motor controller is abnormal; and after the motor controller acquires the requirement for entering the safe state, the motor controller is controlled to switch between the control output mode and the zero-torque mode for closing the insulated gate bipolar transistor module according to the working mode switching control parameter, so that the problem that the IGBT module cannot be irreversibly damaged due to overhigh junction temperature on the premise that the motor controller enters the safe state by controlling the motor controller to switch between the control output mode and the zero-torque mode for closing the insulated gate bipolar transistor module when the efficiency of a cooling system of the motor controller is reduced or failed and the IGBT temperature is higher is solved.
Step S101, obtaining a current efficiency coefficient of the motor controller cooling system specifically includes:
firstly, acquiring the current temperature and the current temperature limit value of an insulated gate bipolar transistor module in the motor controller at intervals of a first preset time length; and then, acquiring the current efficiency coefficient of the motor controller cooling system according to the acquired multiple groups of the current temperatures and the current temperature limit values.
Under the condition of different environmental temperatures, the motor controller cooling system can meet the cooling requirement of the driving system, and the temperature of the IGBT module of the motor controller is ensured not to exceed a preset limit value, wherein different environmental temperatures correspond to different preset limit values. Therefore, the embodiment of the present invention determines the current efficiency coefficient according to the current temperature and the current temperature limit.
Specifically, the step of obtaining the current temperature limit value of the insulated gate bipolar transistor module in the motor controller includes:
firstly, acquiring the current running condition and the current environment temperature of the electric automobile; and secondly, determining the current temperature limit value of the insulated gate bipolar transistor module according to the current driving working condition and the current environment temperature and a prestored environment temperature-driving working condition-insulated gate bipolar transistor module temperature limit value comparison table.
In this step, the temperature limit is a maximum temperature of the IGBT module when the IGBT module normally operates under the current ambient temperature and the current driving condition, and it should be noted that the current temperature limit is determined by a large amount of experimental data.
Specifically, the step of obtaining the current efficiency coefficient of the motor controller cooling system according to the obtained multiple sets of the current temperatures and the current temperature limit values includes:
firstly, obtaining the difference value between the current temperature and the current temperature limit value of each group; secondly, correcting each difference value according to a preset temperature range; thirdly, acquiring the current efficiency coefficient according to the plurality of groups of corrected difference values.
Since the efficiency coefficient is related to the current temperature and the current temperature limit, in the embodiment of the present invention, in order to avoid sudden change of the current efficiency coefficient, a difference between the current temperature and the current temperature limit is limited, so that the corrected difference can be located within a preset temperature range.
More specifically, the step of correcting each of the differences according to a preset temperature range includes:
determining whether the difference is within the preset temperature range;
when the difference is determined not to be within the preset temperature range, if the difference is larger than the upper temperature limit value of the preset temperature range, correcting the difference to be the upper temperature limit value; and if the difference is smaller than the lower temperature limit value of the preset temperature range, correcting the difference to be the lower temperature limit value.
Wherein the step of obtaining the current performance coefficient according to the plurality of groups of corrected difference values comprises:
firstly, calculating the ratio of each corrected difference value to the temperature upper limit value; namely: according to formula Cint＝ΔTL/TmaxAnd calculating an initial value of the efficiency coefficient of the motor controller cooling system. Wherein, CintIs an initial value of the coefficient of performance, Δ TLIs the current temperature, TmaxThe upper limit value of the temperature.
Secondly, the current efficiency coefficient is obtained by calculating the average value of a plurality of ratios. Namely: according to the formula
Figure BDA0002189501690000101
And calculating the current efficiency coefficient. Wherein C is the current efficiency coefficient, Cint(N) is the initial value of the nth coefficient of performance, N being the total number of initial values of the coefficient of performance.
The current efficiency coefficient is obtained by calculating the average value of the initial values of the multiple efficiency coefficients, and the jump of the current efficiency coefficient along with the temperature of the IGBT module is avoided, so that the subsequent control process is facilitated.
Specifically, step S102, determining whether the motor controller cooling system is abnormal according to the current efficiency coefficient, includes:
and if the current efficiency coefficients are all larger than a preset value within a second preset time, determining that the motor controller cooling system is abnormal.
When the motor controller cooling system is in a normal function, the current temperature of the IGBT module is always smaller than the current temperature limit value, so that the current efficiency coefficient is constantly zero, and therefore, if the current efficiency coefficient is always larger than a preset value within a second preset time period, it is determined that the motor controller cooling system is abnormal, where in the embodiment of the present invention, the preset value is preferably zero.
Specifically, step S103 is to determine a working mode switching control parameter of the motor controller in the safe state according to the current rotation speed of the motor and the current efficiency coefficient, and includes:
first, the current rotational speed is collected.
And secondly, correcting each current rotating speed according to a preset rotating speed range.
In this step, the preset rotation speed range is a pre-calibrated range, wherein the upper limit value of the rotation speed of the preset rotation speed range is 2.2 times of the rated rotation speed of the motor, and the lower limit value of the rotation speed of the preset rotation speed range is 1.5 times of the rated rotation speed of the motor.
And then, calculating a rotation speed coefficient of the motor according to the corrected current rotation speed and the rotation speed upper limit value and the rotation speed lower limit value of the preset range.
Specifically, the step can be according to a formula
Figure BDA0002189501690000111
Calculating the rotation speed coefficient, wherein KωIs the coefficient of rotation, ωmaxIs the upper limit value of the rotation speed, omegaminLower limit value of rotation speed, ωLIs the current rotation speed. From the above formula, the rotation speed coefficient decreases linearly from 0.8 to 0.2 as the prevailing rotation speed increases.
And finally, determining the working mode switching control parameter according to the rotating speed coefficient and the current efficiency coefficient.
Specifically, this step may be according to formula Ka＝C×KωCalculating the working mode switching control parameter, wherein KaFor the control parameters of the switching of the working mode, C is the current efficiency coefficient, KωIs the rotation speed coefficient.
It should be noted that the operation mode switching control parameter indicates a ratio in the sum of the control output mode for operating the off-igbt module and the zero-torque mode for operating the off-igbt module in the safe-state control. It can be seen that when the current efficiency coefficient is larger, the working mode switching control parameter is also larger, the duty ratio of the corresponding control output mode for closing the insulated gate bipolar transistor module is also larger, and at this time, the current flowing through the IGBT module is rapidly reduced by increasing the duty ratio of the control output mode of the insulated gate bipolar transistor module; and when the rotation speed is high, the rotation speed coefficient is reduced, the proportion of the corresponding control output mode for closing the insulated gate bipolar transistor module is also reduced, and the impact of the counter electromotive force on the system is reduced by reducing the proportion of the control output mode of the insulated gate bipolar transistor module.
Wherein, according to the preset rotating speed range, the step of correcting each current rotating speed comprises the following steps:
determining whether the absolute value of the current rotating speed is within the preset rotating speed range; when the absolute value of the current rotating speed is determined not to be within the preset temperature range, if the absolute value of the current rotating speed is larger than the rotating speed upper limit value, the current rotating speed is corrected to be the rotating speed upper limit value; and if the absolute value of the current rotating speed is smaller than the rotating speed lower limit value, correcting the current rotating speed to be the rotating speed lower limit value.
Step S104, controlling the motor controller to switch between a control output mode and a zero-torque mode for closing the insulated gate bipolar transistor module according to the working mode switching control parameter, and comprising the following steps:
firstly, determining the times of operating and closing the control output mode of the insulated gate bipolar transistor module and the times of operating the zero-torque mode in one safe state control period according to the switching control parameter and the number of the control output periods of the insulated gate bipolar transistor module included in one safe state control period which is stored in advance.
This step may be specifically performed according to the formula N ═ nxkaCalculating the times of running and closing the control output mode of the insulated gate bipolar transistor module, wherein N is the times of running and closing the control output mode of the insulated gate bipolar transistor module, N is the number of control output cycles of the insulated gate bipolar transistor module contained in one safe state control cycle, and K is the number of control output cycles of the insulated gate bipolar transistor module contained in one safe state control cycleaThe control parameters are switched for the operating mode.
Specifically, the number of times of operating the zero-torque mode is a difference between the number of control output cycles of the igbt module included in one safety state control cycle and the number of times of operating the control output mode of the igbt module to be turned off.
For example: one safe state control period comprises control output modes of 100 insulated gate bipolar transistor modules, the working mode switching control parameter is 0.2, the number of times of operating and closing the control output modes of the insulated gate bipolar transistor modules is 20, and the number of times of operating the zero-torque mode is 80.
And secondly, periodically switching the working mode according to the number of control output cycles of the insulated gate bipolar transistor module contained in one safe state control cycle and the number of times of operating and closing the control output mode of the insulated gate bipolar transistor module.
Specifically, firstly, an integer of a ratio of the number of control output cycles of the insulated gate bipolar transistor module to the number of times of operating and closing the control output mode of the insulated gate bipolar transistor module included in one safe state control cycle is taken, the number of times of operating the integer is taken as one cycle, in the cycle, the control output mode of the insulated gate bipolar transistor module is operated and closed for the first time, the other modules are operated in a zero-torque mode, and the cycle is switched periodically until the number of times of closing the control output mode of the insulated gate bipolar transistor module is completely operated.
Still referring to the above example, it can be known that the ratio of the number of control output cycles of the igbt module included in one safety state control cycle to the number of times of operating to close the control output mode of the igbt module is 5, and then 5 times of operation is taken as one operation sub-cycle, in one operation sub-cycle, the control output mode of the igbt module is closed for the first time of operation, and the zero-torque mode is operated for the other four times.
For another example, one safety state control cycle includes control output modes of 100 igbt modules, and the operating mode switching control parameter is 0.3, the number of times of operating the control output mode for closing the igbt module is 30, and the number of times of operating the zero-torque mode is 70. And when 100/30 is equal to 3 or more than 10, taking operation for 3 times as one operation sub-period, in one operation sub-period, the first operation closes the control output mode of the insulated gate bipolar transistor module, and the other two operations run the zero-torque mode. After running for 30 run sub-cycles, the zero-torque mode is run for the remaining 10 runs.
Further, in order to avoid an unexpected over-temperature phenomenon of the drive system in an abnormal state of the motor controller cooling system, in an embodiment of the present invention, after the step of determining whether the motor controller cooling system is abnormal according to the current efficiency coefficient, the method further includes:
after determining that the motor controller cooling system is abnormal, determining the current limit power of the motor according to the current efficiency coefficient and the current rotating speed of the motor; and controlling the output power of the motor to be less than or equal to the current limit power.
Specifically, the step of determining the current limit power of the motor according to the current efficiency coefficient and the current rotation speed of the motor includes:
firstly, acquiring the current maximum output power of the motor according to the current rotating speed and a prestored motor external characteristic curve; secondly, determining the current limit power of the motor according to the current maximum output power and the current efficiency coefficient.
Preferably, according to the current maximum output power and the current efficiency coefficient, determining the current limit power of the motor may be: according to formula PL＝C×PWCalculating the current limit power; wherein, PLFor the current limit power, C is the current efficiency factor, PWIs the current maximum output power.
The motor controller working mode switching method of the embodiment of the invention determines the state of the motor controller cooling system according to the current efficiency coefficient, after determining that the motor controller cooling system is abnormal, determining the working mode switching control parameter according to the current rotating speed and the current efficiency coefficient, and finally when the vehicle is required to enter a safe state, the motor controller is controlled to switch between a control output mode and a zero torque mode when the insulated gate bipolar transistor module is closed according to the working mode switching control parameter, so that the problem that the driving safety of the electric automobile is seriously influenced in the process of enabling the automobile to enter a safe state by adopting a conventional active short circuit mode is avoided, the junction temperature of the IGBT module exceeds an allowable threshold value due to the fact that large current continuously flows through a bridge arm of the IGBT module, and irreversible damage to the IGBT module is caused.
As shown in fig. 2, an embodiment of the present invention further provides a device for switching operating modes of a motor controller, including:
an obtaining module 201, configured to obtain a current efficiency coefficient of a motor controller cooling system;
a first determination module 202 for determining whether the motor controller cooling system is abnormal based on the current efficiency factor;
the second determining module 203 is configured to determine a working mode switching control parameter of the motor controller in a safe state according to the current rotation speed of the motor and the current efficiency coefficient after determining that the motor controller cooling system is abnormal;
and the first control module 204 is configured to control the motor controller to switch between a control output mode and a zero-torque mode for closing the insulated gate bipolar transistor module according to the working mode switching control parameter after the requirement for entering the safe state is acquired.
In the device for switching the operating mode of the motor controller according to the embodiment of the present invention, the obtaining module 201 includes:
the first obtaining submodule is used for obtaining the current temperature and the current temperature limit value of an insulated gate bipolar transistor module in the motor controller at intervals of a first preset time length;
and the second obtaining submodule is used for obtaining the current efficiency coefficient of the motor controller cooling system according to the obtained multiple groups of current temperatures and the current temperature limit values.
In the device for switching operating modes of a motor controller according to an embodiment of the present invention, the first obtaining sub-module includes:
the first acquisition unit is used for acquiring the current running condition and the current environment temperature of the electric automobile;
and the first determining unit is used for determining the current temperature limit value of the insulated gate bipolar transistor module according to the current driving working condition and the current environment temperature as well as a prestored environment temperature-driving working condition-insulated gate bipolar transistor module temperature limit value comparison table.
In the device for switching operating modes of a motor controller according to the embodiment of the present invention, the second obtaining sub-module includes:
the second acquisition unit is used for acquiring the difference value between the current temperature and the current temperature limit value of each group;
the first correction unit is used for correcting each difference value according to a preset temperature range;
and the third obtaining unit is used for obtaining the current efficiency coefficient according to the plurality of groups of corrected difference values.
In the motor controller operation mode switching apparatus according to the embodiment of the present invention, the first correcting unit includes:
a first determining subunit, configured to determine whether the difference value is within the preset temperature range;
the first correction subunit is used for correcting the difference value to be the upper temperature limit value if the difference value is larger than the upper temperature limit value of the preset temperature range when the difference value is determined not to be in the preset temperature range; and if the difference is smaller than the lower temperature limit value of the preset temperature range, correcting the difference to be the lower temperature limit value.
In the motor controller operating mode switching apparatus according to the embodiment of the present invention, the third acquiring unit includes:
the first calculating subunit is used for calculating the ratio of each corrected difference value to the temperature upper limit value;
and the first obtaining subunit is configured to obtain the current performance coefficient by calculating an average value of a plurality of the ratios.
In the device for switching operating modes of a motor controller according to an embodiment of the present invention, the first determining module 202 includes:
and the first determining submodule is used for determining that the motor controller cooling system is abnormal if the current efficiency coefficients are all larger than the preset value in a second preset time period.
In the device for switching operating modes of a motor controller according to the embodiment of the present invention, the second determining module 203 includes:
the acquisition submodule is used for acquiring the current rotating speed;
the correction submodule is used for correcting each current rotating speed according to a preset rotating speed range;
the calculation submodule is used for calculating the rotation speed coefficient of the motor according to the corrected current rotation speed and the rotation speed upper limit value and the rotation speed lower limit value of the preset range;
and the first determining submodule is used for determining the working mode switching control parameter according to the rotating speed coefficient and the current efficiency coefficient.
In the device for switching operating modes of a motor controller according to the embodiment of the present invention, the correction submodule includes:
a second determination unit configured to determine whether an absolute value of the current rotation speed is within the preset rotation speed range;
the second correcting unit is used for correcting the current rotating speed to be the rotating speed upper limit value if the absolute value of the current rotating speed is larger than the rotating speed upper limit value when the absolute value of the current rotating speed is determined not to be in the preset temperature range; and if the absolute value of the current rotating speed is smaller than the rotating speed lower limit value, correcting the current rotating speed to be the rotating speed lower limit value.
In the device for switching the operating mode of the motor controller according to the embodiment of the present invention, the first control module 204 includes:
the second determining submodule is used for determining the times of operating and closing the control output mode of the insulated gate bipolar transistor module and the times of operating the zero-torque mode in one safe state control period according to the switching control parameter and the number of the control output periods of the insulated gate bipolar transistor module contained in the one safe state control period which is stored in advance;
and the switching submodule is used for periodically switching the working mode according to the number of control output cycles of the insulated gate bipolar transistor module contained in one safe state control cycle and the number of times of operating and closing the control output mode of the insulated gate bipolar transistor module.
The motor controller working mode switching device of the embodiment of the invention further comprises:
the third determining module is used for determining the current limiting power of the motor according to the current efficiency coefficient and the current rotating speed of the motor after determining that the motor controller cooling system is abnormal;
and the second control module is used for controlling the output power of the motor to be less than or equal to the current limit power.
In the device for switching operating modes of a motor controller according to the embodiment of the present invention, the third determining module includes:
the third obtaining submodule is used for obtaining the current maximum output power of the motor according to the current rotating speed and a prestored motor external characteristic curve;
and the third determining submodule is used for determining the current limit power of the motor according to the current maximum output power and the current efficiency coefficient.
In the device for switching the working mode of the motor controller according to the embodiment of the present invention, the obtaining module 201 obtains the current efficiency coefficient of the cooling system of the motor controller; causing the first determination module 202 to determine whether the motor controller cooling system is abnormal based on the current efficiency factor; therefore, after the motor controller cooling system is determined to be abnormal, the second determination module 203 determines the working mode switching control parameter of the motor controller in the safe state according to the current rotating speed and the current efficiency coefficient of the motor; finally, after the requirement for entering the safe state is acquired, the first control module 204 controls the motor controller to switch between the control output mode and the zero-torque mode for closing the insulated gate bipolar transistor module according to the working mode switching control parameter, so that when the vehicle enters the safe state through an active short circuit mode after a fault which seriously affects the driving safety occurs, the IGBT module in the motor controller conducts a bridge arm to generate a large current, the junction temperature of the IGBT module is over a limit value to cause the burnout of the IGBT module when the cooling efficiency of the cooling system of the motor controller is reduced or the fault occurs, and the driving safety is improved.
The embodiment of the invention also provides an electric automobile which comprises the motor controller working mode switching device.
An embodiment of the present invention further provides an electric vehicle, including: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method for switching the operating mode of a motor controller as described above.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for switching the operating mode of the motor controller described above are implemented.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (16)

1. A method for switching the working mode of a motor controller is characterized by comprising the following steps:
acquiring a current efficiency coefficient of a motor controller cooling system;
determining whether the motor controller cooling system is abnormal according to the current efficiency coefficient;
after determining that the motor controller cooling system is abnormal, determining a working mode switching control parameter of the motor controller in a safe state according to the current rotating speed and the current efficiency coefficient of the motor;
and after the requirement for entering a safe state is acquired, controlling the motor controller to switch between a control output mode and a zero-torque mode for closing the insulated gate bipolar transistor module according to the working mode switching control parameter.
2. The method of claim 1 wherein the step of obtaining a current efficiency factor of a motor controller cooling system comprises:
acquiring the current temperature and the current temperature limit value of an insulated gate bipolar transistor module in the motor controller at intervals of a first preset time length;
and acquiring the current efficiency coefficient of the motor controller cooling system according to the acquired multiple groups of the current temperatures and the current temperature limit values.
3. The method of claim 2, wherein the step of obtaining the current temperature limit of the igbt module in the motor controller comprises:
acquiring the current running condition and the current environment temperature of the electric automobile;
and determining the current temperature limit value of the insulated gate bipolar transistor module according to the current driving working condition and the current environment temperature and a prestored environment temperature-driving working condition-insulated gate bipolar transistor module temperature limit value comparison table.
4. The method of claim 2 wherein the step of obtaining a current coefficient of performance of the motor controller cooling system based on the obtained plurality of sets of the current temperature and the current temperature limit comprises:
obtaining the difference value between the current temperature and the current temperature limit value of each group;
correcting each difference value according to a preset temperature range;
and acquiring the current efficiency coefficient according to the plurality of groups of corrected difference values.
5. The method of claim 4, wherein the step of modifying each of the differences according to a predetermined temperature range comprises:
determining whether the difference is within the preset temperature range;
when the difference is determined not to be within the preset temperature range, if the difference is larger than the upper temperature limit value of the preset temperature range, correcting the difference to be the upper temperature limit value; and if the difference is smaller than the lower temperature limit value of the preset temperature range, correcting the difference to be the lower temperature limit value.
6. The method of claim 5, wherein the step of obtaining the current performance factor according to the plurality of sets of corrected differences comprises:
calculating the ratio of each corrected difference value to the temperature upper limit value;
and obtaining the current efficiency coefficient by calculating the average value of a plurality of ratios.
7. The method of switching operating modes of a motor controller according to claim 1 wherein the step of determining whether the motor controller cooling system is abnormal based on the current efficiency factor comprises:
and if the current efficiency coefficients are all larger than a preset value within a second preset time, determining that the motor controller cooling system is abnormal.
8. The method of claim 1, wherein the step of determining the operating mode switching control parameter of the motor controller in the safe state according to the current rotation speed and the current efficiency coefficient of the motor comprises:
collecting the current rotating speed;
correcting each current rotating speed according to a preset rotating speed range;
calculating a rotation speed coefficient of the motor according to the corrected current rotation speed and the rotation speed upper limit value and the rotation speed lower limit value of the preset range;
and determining the working mode switching control parameter according to the rotating speed coefficient and the current efficiency coefficient.
9. The method of claim 8, wherein the step of modifying each of the current rotational speeds according to a predetermined rotational speed range comprises:
determining whether the absolute value of the current rotating speed is within the preset rotating speed range;
when the absolute value of the current rotating speed is determined not to be within the preset temperature range, if the absolute value of the current rotating speed is larger than the rotating speed upper limit value, the current rotating speed is corrected to be the rotating speed upper limit value; and if the absolute value of the current rotating speed is smaller than the rotating speed lower limit value, correcting the current rotating speed to be the rotating speed lower limit value.
10. The method of claim 1, wherein the step of controlling the motor controller to switch between the control output mode and the zero-torque mode of the off igbt module according to the operating mode switching control parameter comprises:
determining the times of operating and closing the control output mode of the insulated gate bipolar transistor module and the times of operating the zero-torque mode in one safe state control period according to the switching control parameters and the number of the control output periods of the insulated gate bipolar transistor module contained in the one safe state control period which is stored in advance;
and periodically switching the working modes according to the number of control output periods of the insulated gate bipolar transistor module contained in one safe state control period and the number of times of operating and closing the control output modes of the insulated gate bipolar transistor module.
11. The method of switching operating modes of a motor controller according to claim 1, wherein after the step of determining whether the motor controller cooling system is abnormal based on the current efficiency factor, the method further comprises:
after determining that the motor controller cooling system is abnormal, determining the current limit power of the motor according to the current efficiency coefficient and the current rotating speed of the motor;
and controlling the output power of the motor to be less than or equal to the current limit power.
12. The method of claim 11 wherein the step of determining the current limit power of the motor based on the current efficiency factor and the current speed of the motor comprises:
acquiring the current maximum output power of the motor according to the current rotating speed and a prestored motor external characteristic curve;
and determining the current limit power of the motor according to the current maximum output power and the current efficiency coefficient.
13. An operating mode switching device of a motor controller, comprising:
the acquisition module is used for acquiring the current efficiency coefficient of the motor controller cooling system;
a first determination module for determining whether the motor controller cooling system is abnormal based on the current efficiency coefficient;
the second determination module is used for determining working mode switching control parameters of the motor controller in a safe state according to the current rotating speed and the current efficiency coefficient of the motor after determining that the cooling system of the motor controller is abnormal;
and the first control module is used for controlling the motor controller to switch between a control output mode and a zero-torque mode for closing the insulated gate bipolar transistor module according to the working mode switching control parameter after the requirement for entering the safe state is acquired.
14. An electric vehicle characterized by comprising the motor controller operation mode switching device according to claim 13.
15. An electric vehicle, comprising: processor, memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the motor controller operating mode switching method of any of claims 1 to 12.
16. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the motor controller operation mode switching method according to any one of claims 1 to 12.
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